diff --git a/modules/octomap/1.9.7/MODULE.bazel b/modules/octomap/1.9.7/MODULE.bazel
new file mode 100644
index 00000000000..7e29e554dd1
--- /dev/null
+++ b/modules/octomap/1.9.7/MODULE.bazel
@@ -0,0 +1,7 @@
+module(
+    name = "octomap",
+    version = "1.9.7",
+    compatibility_level = 0,
+)
+
+bazel_dep(name = "rules_license", version = "1.0.0")
diff --git a/modules/octomap/1.9.7/patches/add_build_file.patch b/modules/octomap/1.9.7/patches/add_build_file.patch
new file mode 100644
index 00000000000..a556bf0941b
--- /dev/null
+++ b/modules/octomap/1.9.7/patches/add_build_file.patch
@@ -0,0 +1,57 @@
+--- /dev/null
++++ BUILD.bazel
+@@ -0,0 +1,54 @@
++load("@rules_license//rules:license.bzl", "license")
++
++package(
++    default_applicable_licenses = [":license"],
++)
++
++license(
++    name = "license",
++    package_name = "octomap",
++)
++
++licenses(["notice"])
++
++exports_files(["LICENSE"])
++
++octomap_sources = glob(
++    include = [
++        "octomap/src/**/*.cpp",
++    ],
++    exclude = [
++        "octomap/src/binvox2bt.cpp",
++        "octomap/src/bt2vrml.cpp",
++        "octomap/src/compare_octrees.cpp",
++        "octomap/src/convert_octree.cpp",
++        "octomap/src/edit_octree.cpp",
++        "octomap/src/edit_octree.cpp",
++        "octomap/src/eval_octree_accuracy.cpp",
++        "octomap/src/graph2tree.cpp",
++        "octomap/src/graph2tree.cpp",
++        "octomap/src/intersection_example.cpp",
++        "octomap/src/log2graph.cpp",
++        "octomap/src/normals_example.cpp",
++        "octomap/src/octree2pointcloud.cpp",
++        "octomap/src/offset_graph.cpp",
++        "octomap/src/simple_example.cpp",
++        "octomap/src/testing/*",
++    ],
++)
++
++octomap_headers = glob(
++    include = [
++        "octomap/include/**/*.h*",
++    ],
++)
++
++cc_library(
++    name = "octomap",
++    srcs = octomap_sources,
++    hdrs = octomap_headers,
++    includes = [
++        "octomap/include",
++    ],
++    visibility = ["//visibility:public"],
++)
diff --git a/modules/octomap/1.9.7/patches/module_dot_bazel.patch b/modules/octomap/1.9.7/patches/module_dot_bazel.patch
new file mode 100644
index 00000000000..01a46b7c3c7
--- /dev/null
+++ b/modules/octomap/1.9.7/patches/module_dot_bazel.patch
@@ -0,0 +1,10 @@
+--- MODULE.bazel
++++ MODULE.bazel
+@@ -0,0 +1,7 @@
++module(
++    name = "octomap",
++    version = "1.9.7",
++    compatibility_level = 0,
++)
++
++bazel_dep(name = "rules_license", version = "1.0.0")
diff --git a/modules/octomap/1.9.7/presubmit.yml b/modules/octomap/1.9.7/presubmit.yml
new file mode 100644
index 00000000000..a6a4d26d0f4
--- /dev/null
+++ b/modules/octomap/1.9.7/presubmit.yml
@@ -0,0 +1,17 @@
+matrix:
+  platform:
+  - debian11
+  - ubuntu2204
+  - macos
+  - macos_arm64
+  - windows
+  bazel:
+  - 8.x
+  - 7.x
+tasks:
+  verify_targets:
+    name: Verify build targets
+    platform: ${{ platform }}
+    bazel: ${{ bazel }}
+    build_targets:
+    - '@octomap//:octomap'
diff --git a/modules/octomap/1.9.7/source.json b/modules/octomap/1.9.7/source.json
new file mode 100644
index 00000000000..229ed193b9a
--- /dev/null
+++ b/modules/octomap/1.9.7/source.json
@@ -0,0 +1,10 @@
+{
+    "url": "https://github.com/OctoMap/octomap/archive/refs/tags/v1.9.7.tar.gz",
+    "integrity": "sha256-PprAIGhs604X4WG//FoNr9nMyrM63rmt7lmmHEGOocE=",
+    "strip_prefix": "octomap-1.9.7",
+    "patches": {
+        "add_build_file.patch": "sha256-fDcajBbyyWqc48u3Ddl17oCqykOt4eWoqbYAL+adhDA=",
+        "module_dot_bazel.patch": "sha256-Gl8DXlWJz/l0NbQwFgPx7gmjFwzBCopgoTTP9ZUpxKQ="
+    },
+    "patch_strip": 0
+}
diff --git a/modules/octomap/metadata.json b/modules/octomap/metadata.json
new file mode 100644
index 00000000000..284218a0c2d
--- /dev/null
+++ b/modules/octomap/metadata.json
@@ -0,0 +1,18 @@
+{
+    "homepage": "https://github.com/OctoMap/octomap",
+    "maintainers": [
+        {
+            "email": "iche@intrinsic.ai",
+            "github": "iche033",
+            "name": "Ian Chen",
+            "github_user_id": 4000684
+        }
+    ],
+    "repository": [
+        "github:OctoMap/octomap"
+    ],
+    "versions": [
+        "1.9.7"
+    ],
+    "yanked_versions": {}
+}